 - mIoU. Mean Intersection over Union (mIoU) is the least strict metric which used to capture the cases where the model can output the required actions but fail to discern the order of actions. Same as Chang et al. [1]}, we compute IoU \(\frac{|\lbrace a_t\rbrace \cap \lbrace \hat{a}_t\rbrace |}{|\lbrace a_t\rbrace \cup \lbrace \hat{a}_t\rbrace |}\)  between the set of planned actions \(\lbrace \hat{a}_t\rbrace \)  and the set of ground-truth \(\lbrace a_t\rbrace \) .
